GRID-VIDEO MEASUREMENT METHOD FOR A-UGV'S SMALL OBSTACLE AVOIDANCE PERFORMANCE
Soocheol Yoon, Roger V. Bostelman, Ann Virts
With the advancement of factory logistics into the autonomous era comes the need to validate the safety and performance characteristics of Autonomous-Unmanned Ground Vehicles (A-UGVs) working in these application spaces ASTM Committee F45 has been developing standards for A-UGV performance measurement in various domains. The object detection and obstacle avoidance performance of A-UGVs in factories needs to be managed carefully as the action may cause severe damages, particularly when obstacles are either not detected or erroneously detected. In this paper, the grid-video measurement method is proposed to measure the small (e.g., short and/or thin) obstacle avoidance performance of A-UGVs. First, this paper describes the need for measuring the A-UGV performance through examples of small obstacles and the required A-UGV capability to avoid them. Next, the grid-video measurement method is introduced as a low cost, standard method to measure the small obstacle avoidance performance of A-UGVs. An experiment using blocks demonstrates how the grid-video measurement method can be used effectively to measure the A-UGV obstacle avoidance performance, and it shows that the performance changes upon A-UGV specification, obstacle sizing, and environmental conditions quantitively. The method and experimental results proposed in this paper will be used to support ASTM F45 standard development.
Proceedings of the ASME2022 International Mechanical Engineering Congress and Exposition IMECE2022
October 30-November 3, 2022
Columbus, OH, US
International Mechanical Engineering Congress and Exposition(IMECE) 2022
, Bostelman, R.
and Virts, A.
GRID-VIDEO MEASUREMENT METHOD FOR A-UGV'S SMALL OBSTACLE AVOIDANCE PERFORMANCE, Proceedings of the ASME2022 International Mechanical Engineering Congress and Exposition IMECE2022, Columbus, OH, US, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=934833
(Accessed March 21, 2023)